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Add SparkMax and fix arm mode issues

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This commit is contained in:
Michael Mikovsky
2026-03-25 11:39:55 -06:00
parent c6b0d29acd
commit 7eba3d8faa
6 changed files with 159 additions and 18 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+10
View File
@@ -30,6 +30,8 @@ public class Intake extends SubsystemBase {
public enum IntakeMode {
Extended,
Retracted,
Extending,
Retracting,
Idle,
Bouncing
}
@@ -101,6 +103,14 @@ public class Intake extends SubsystemBase {
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerOutput(state, 0);
break;
case Extending:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get()));
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracting:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get()));
io.setRollerOutput(state, 0);
break;
case Bouncing:
io.setRollerOutput(state, 0);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+6 -9
View File
@@ -1,11 +1,13 @@
package frc4388.robot.subsystems.intake;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Rotations;
import com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.controls.PositionDutyCycle;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.util.Units;
@@ -17,7 +19,7 @@ import edu.wpi.first.wpilibj.DigitalInput;
public class IntakeReal implements IntakeIO {
TalonFX m_armMotor;
TalonFX m_rollerMotor;
SparkMax m_rollerMotor;
DigitalInput m_armLimitSwitch;
PositionDutyCycle armPosition = new PositionDutyCycle(0);
@@ -26,7 +28,7 @@ public class IntakeReal implements IntakeIO {
public IntakeReal(
DigitalInput armLimitSwitch,
TalonFX armMotor,
TalonFX rollerMotor
SparkMax rollerMotor
) {
// m_angleMotor = angleMotor;
// m_pitchMotor = pitchMotor;
@@ -37,7 +39,7 @@ public class IntakeReal implements IntakeIO {
// Apply the configs
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_MOTOR_CONFIG);
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG);
// m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG);
armPosition.Slot = 0;
// rollerVelocity.Slot = 0;
@@ -59,11 +61,6 @@ public class IntakeReal implements IntakeIO {
public void setRollerOutput(IntakeState state, double rollerOutput) {
state.rollerTargetOutput = rollerOutput;
if(rollerOutput == 0) {
m_rollerMotor.set(0);
return;
}
m_rollerMotor.set(rollerOutput);
}
@@ -133,7 +130,7 @@ public class IntakeReal implements IntakeIO {
state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
state.rollerOutput = m_rollerMotor.get();
state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
state.retractedLimit = !m_armLimitSwitch.get();
state.armMotorVelocity = m_armMotor.getVelocity().getValue();